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   <div id="projectname">Calico
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   <div id="projectbrief">A visual-inertial calibration library designed for rapid problem construction and debugging.</div>
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<li class="navelem"><a class="el" href="namespacecalico.html">calico</a></li><li class="navelem"><a class="el" href="namespacecalico_1_1sensors.html">sensors</a></li><li class="navelem"><a class="el" href="classcalico_1_1sensors_1_1Sensor.html">Sensor</a></li>  </ul>
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<div class="title">calico::sensors::Sensor Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
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<p><code>#include &lt;<a class="el" href="sensor__base_8h_source.html">sensor_base.h</a>&gt;</code></p>
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Inheritance diagram for calico::sensors::Sensor:</div>
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<area shape="rect" href="classcalico_1_1sensors_1_1Accelerometer.html" title="Accelerometer class." alt="" coords="5,80,204,107"/>
<area shape="rect" href="classcalico_1_1sensors_1_1Camera.html" title="Camera class." alt="" coords="228,80,387,107"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:aa9491c153bcd2dbba98627d5047cc66a"><td class="memItemLeft" align="right" valign="top"><a id="aa9491c153bcd2dbba98627d5047cc66a"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1Sensor.html#aa9491c153bcd2dbba98627d5047cc66a">SetName</a> (const std::string &amp;name)=0</td></tr>
<tr class="memdesc:aa9491c153bcd2dbba98627d5047cc66a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Setter for name. <br /></td></tr>
<tr class="separator:aa9491c153bcd2dbba98627d5047cc66a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7188f41932ea342932ccc4065281b623"><td class="memItemLeft" align="right" valign="top"><a id="a7188f41932ea342932ccc4065281b623"></a>
virtual const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1Sensor.html#a7188f41932ea342932ccc4065281b623">GetName</a> () const =0</td></tr>
<tr class="memdesc:a7188f41932ea342932ccc4065281b623"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for name. <br /></td></tr>
<tr class="separator:a7188f41932ea342932ccc4065281b623"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab0cdb2a4a36500b22c1c27b51955a6a8"><td class="memItemLeft" align="right" valign="top"><a id="ab0cdb2a4a36500b22c1c27b51955a6a8"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1Sensor.html#ab0cdb2a4a36500b22c1c27b51955a6a8">SetExtrinsics</a> (const <a class="el" href="classcalico_1_1Pose3.html">Pose3d</a> &amp;T_sensorrig_sensor)=0</td></tr>
<tr class="memdesc:ab0cdb2a4a36500b22c1c27b51955a6a8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Setter for extrinsics parameters. <br /></td></tr>
<tr class="separator:ab0cdb2a4a36500b22c1c27b51955a6a8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1aa9904a248e5d541be7f13d3447ace5"><td class="memItemLeft" align="right" valign="top"><a id="a1aa9904a248e5d541be7f13d3447ace5"></a>
virtual const <a class="el" href="classcalico_1_1Pose3.html">Pose3d</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1Sensor.html#a1aa9904a248e5d541be7f13d3447ace5">GetExtrinsics</a> () const =0</td></tr>
<tr class="memdesc:a1aa9904a248e5d541be7f13d3447ace5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for extrinsics parameters. <br /></td></tr>
<tr class="separator:a1aa9904a248e5d541be7f13d3447ace5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad0f96e3a90e36a8797998ec02fab71fc"><td class="memItemLeft" align="right" valign="top"><a id="ad0f96e3a90e36a8797998ec02fab71fc"></a>
virtual absl::Status&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1Sensor.html#ad0f96e3a90e36a8797998ec02fab71fc">SetIntrinsics</a> (const Eigen::VectorXd &amp;intrinsics)=0</td></tr>
<tr class="memdesc:ad0f96e3a90e36a8797998ec02fab71fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Setter for intrinsics parameters. <br /></td></tr>
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<tr class="memitem:a46837cc3e6eb96518356e5362ca152da"><td class="memItemLeft" align="right" valign="top"><a id="a46837cc3e6eb96518356e5362ca152da"></a>
virtual const Eigen::VectorXd &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1Sensor.html#a46837cc3e6eb96518356e5362ca152da">GetIntrinsics</a> () const =0</td></tr>
<tr class="memdesc:a46837cc3e6eb96518356e5362ca152da"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for intrinsics parameters. <br /></td></tr>
<tr class="separator:a46837cc3e6eb96518356e5362ca152da"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af932ab758f883f08ab564ebba781a6e3"><td class="memItemLeft" align="right" valign="top"><a id="af932ab758f883f08ab564ebba781a6e3"></a>
virtual absl::Status&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1Sensor.html#af932ab758f883f08ab564ebba781a6e3">SetLatency</a> (double latency)=0</td></tr>
<tr class="memdesc:af932ab758f883f08ab564ebba781a6e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Setter for sensor latency. <br /></td></tr>
<tr class="separator:af932ab758f883f08ab564ebba781a6e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a16426cb65ee8e154b51bf86e82e0e793"><td class="memItemLeft" align="right" valign="top"><a id="a16426cb65ee8e154b51bf86e82e0e793"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1Sensor.html#a16426cb65ee8e154b51bf86e82e0e793">GetLatency</a> () const =0</td></tr>
<tr class="memdesc:a16426cb65ee8e154b51bf86e82e0e793"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for sensor latency. <br /></td></tr>
<tr class="separator:a16426cb65ee8e154b51bf86e82e0e793"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa4fba629e7267af511b70cbcd5727df3"><td class="memItemLeft" align="right" valign="top"><a id="aa4fba629e7267af511b70cbcd5727df3"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1Sensor.html#aa4fba629e7267af511b70cbcd5727df3">EnableExtrinsicsEstimation</a> (bool enable)=0</td></tr>
<tr class="memdesc:aa4fba629e7267af511b70cbcd5727df3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable or disable extrinsics estimation. <br /></td></tr>
<tr class="separator:aa4fba629e7267af511b70cbcd5727df3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ace74aed01a0a9f152e26205aef3f49f5"><td class="memItemLeft" align="right" valign="top"><a id="ace74aed01a0a9f152e26205aef3f49f5"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1Sensor.html#ace74aed01a0a9f152e26205aef3f49f5">EnableIntrinsicsEstimation</a> (bool enable)=0</td></tr>
<tr class="memdesc:ace74aed01a0a9f152e26205aef3f49f5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable or disable intrinsics estimation. <br /></td></tr>
<tr class="separator:ace74aed01a0a9f152e26205aef3f49f5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a884df42081a0be6e09fe923478324680"><td class="memItemLeft" align="right" valign="top"><a id="a884df42081a0be6e09fe923478324680"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1Sensor.html#a884df42081a0be6e09fe923478324680">EnableLatencyEstimation</a> (bool enable)=0</td></tr>
<tr class="memdesc:a884df42081a0be6e09fe923478324680"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable or disable latency estimation. <br /></td></tr>
<tr class="separator:a884df42081a0be6e09fe923478324680"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af08e6476f0188cdb77cf912a9026709a"><td class="memItemLeft" align="right" valign="top">virtual absl::Status&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1Sensor.html#af08e6476f0188cdb77cf912a9026709a">UpdateResiduals</a> (ceres::Problem &amp;problem)=0</td></tr>
<tr class="memdesc:af08e6476f0188cdb77cf912a9026709a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update residuals for this sensor.  <a href="classcalico_1_1sensors_1_1Sensor.html#af08e6476f0188cdb77cf912a9026709a">More...</a><br /></td></tr>
<tr class="separator:af08e6476f0188cdb77cf912a9026709a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8766d4d9b38c440f7dede45a5b24f432"><td class="memItemLeft" align="right" valign="top"><a id="a8766d4d9b38c440f7dede45a5b24f432"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1Sensor.html#a8766d4d9b38c440f7dede45a5b24f432">ClearResidualInfo</a> ()=0</td></tr>
<tr class="memdesc:a8766d4d9b38c440f7dede45a5b24f432"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clear all stored info about residuals. <br /></td></tr>
<tr class="separator:a8766d4d9b38c440f7dede45a5b24f432"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad0a0b27cd6022fe84e141d20a987a2cf"><td class="memItemLeft" align="right" valign="top"><a id="ad0a0b27cd6022fe84e141d20a987a2cf"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1Sensor.html#ad0a0b27cd6022fe84e141d20a987a2cf">SetLossFunction</a> (<a class="el" href="namespacecalico_1_1utils.html#aacede3df540b75d2e131f113380f0ce9">utils::LossFunctionType</a> loss, double scale=1.0)=0</td></tr>
<tr class="memdesc:ad0a0b27cd6022fe84e141d20a987a2cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Setter for loss function and scale. <br /></td></tr>
<tr class="separator:ad0a0b27cd6022fe84e141d20a987a2cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a54f63f5a3b982b444d3a77724ec0a4cd"><td class="memItemLeft" align="right" valign="top">virtual absl::StatusOr&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1Sensor.html#a54f63f5a3b982b444d3a77724ec0a4cd">AddParametersToProblem</a> (ceres::Problem &amp;problem)=0</td></tr>
<tr class="memdesc:a54f63f5a3b982b444d3a77724ec0a4cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add this sensor's calibration parameters to the ceres problem.  <a href="classcalico_1_1sensors_1_1Sensor.html#a54f63f5a3b982b444d3a77724ec0a4cd">More...</a><br /></td></tr>
<tr class="separator:a54f63f5a3b982b444d3a77724ec0a4cd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7b60ca0610c6caa6a3278f7da5a251d8"><td class="memItemLeft" align="right" valign="top">virtual absl::StatusOr&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1Sensor.html#a7b60ca0610c6caa6a3278f7da5a251d8">AddResidualsToProblem</a> (ceres::Problem &amp;problem, <a class="el" href="classcalico_1_1Trajectory.html">Trajectory</a> &amp;sensorrig_trajectory, <a class="el" href="classcalico_1_1WorldModel.html">WorldModel</a> &amp;world_model)=0</td></tr>
<tr class="memdesc:a7b60ca0610c6caa6a3278f7da5a251d8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Contribue this sensor's residuals to the ceres problem.  <a href="classcalico_1_1sensors_1_1Sensor.html#a7b60ca0610c6caa6a3278f7da5a251d8">More...</a><br /></td></tr>
<tr class="separator:a7b60ca0610c6caa6a3278f7da5a251d8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afd3eac9105c7168c64212bfdf20f04fa"><td class="memItemLeft" align="right" valign="top">virtual absl::Status&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1Sensor.html#afd3eac9105c7168c64212bfdf20f04fa">SetMeasurementNoise</a> (double sigma)=0</td></tr>
<tr class="memdesc:afd3eac9105c7168c64212bfdf20f04fa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the measurement noise \(\sigma\).  <a href="classcalico_1_1sensors_1_1Sensor.html#afd3eac9105c7168c64212bfdf20f04fa">More...</a><br /></td></tr>
<tr class="separator:afd3eac9105c7168c64212bfdf20f04fa"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Base class for sensors. For the sake of readability, we make this a purely virtual class, so setters and getters must be implemented at the derived class level. </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="a54f63f5a3b982b444d3a77724ec0a4cd"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a54f63f5a3b982b444d3a77724ec0a4cd">&#9670;&nbsp;</a></span>AddParametersToProblem()</h2>

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          <td class="memname">virtual absl::StatusOr&lt;int&gt; calico::sensors::Sensor::AddParametersToProblem </td>
          <td>(</td>
          <td class="paramtype">ceres::Problem &amp;&#160;</td>
          <td class="paramname"><em>problem</em></td><td>)</td>
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<p>Add this sensor's calibration parameters to the ceres problem. </p>
<p>Returns the number of parameters added to the problem, which should be intrinsics + extrinsics + latency. If the sensor's model hasn't been set yet, it will return an invalid argument error. </p>

<p>Implemented in <a class="el" href="classcalico_1_1sensors_1_1Gyroscope.html#ac6a5c8408e1822a1b80d71cd86893505">calico::sensors::Gyroscope</a>, <a class="el" href="classcalico_1_1sensors_1_1Camera.html#a716548611fcd3de2fa5da2ae04c3d951">calico::sensors::Camera</a>, and <a class="el" href="classcalico_1_1sensors_1_1Accelerometer.html#ad662a04d9dc1fa620d674260a10ef584">calico::sensors::Accelerometer</a>.</p>

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<a id="a7b60ca0610c6caa6a3278f7da5a251d8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7b60ca0610c6caa6a3278f7da5a251d8">&#9670;&nbsp;</a></span>AddResidualsToProblem()</h2>

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          <td class="memname">virtual absl::StatusOr&lt;int&gt; calico::sensors::Sensor::AddResidualsToProblem </td>
          <td>(</td>
          <td class="paramtype">ceres::Problem &amp;&#160;</td>
          <td class="paramname"><em>problem</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classcalico_1_1Trajectory.html">Trajectory</a> &amp;&#160;</td>
          <td class="paramname"><em>sensorrig_trajectory</em>, </td>
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          <td></td>
          <td class="paramtype"><a class="el" href="classcalico_1_1WorldModel.html">WorldModel</a> &amp;&#160;</td>
          <td class="paramname"><em>world_model</em>&#160;</td>
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          <td>)</td>
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<p>Contribue this sensor's residuals to the ceres problem. </p>
<p><code>sensorrig_trajectory</code> is the world-from-sensorrig trajectory \(\mathbf{T}^w_r(t)\). </p>

<p>Implemented in <a class="el" href="classcalico_1_1sensors_1_1Gyroscope.html#ae882341a2ea6aa26bee515ca45d5424f">calico::sensors::Gyroscope</a>, <a class="el" href="classcalico_1_1sensors_1_1Camera.html#ade8c66c0e1e8a1e18b8a42ebeec5b2f2">calico::sensors::Camera</a>, and <a class="el" href="classcalico_1_1sensors_1_1Accelerometer.html#a18f345438e5d1c919e8a2842491552fd">calico::sensors::Accelerometer</a>.</p>

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<a id="afd3eac9105c7168c64212bfdf20f04fa"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afd3eac9105c7168c64212bfdf20f04fa">&#9670;&nbsp;</a></span>SetMeasurementNoise()</h2>

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          <td class="memname">virtual absl::Status calico::sensors::Sensor::SetMeasurementNoise </td>
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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>sigma</em></td><td>)</td>
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<p>Set the measurement noise \(\sigma\). </p>
<p>This value is used to weight the sensor's residuals such that: </p><p class="formulaDsp">
\[ \boldsymbol{\Sigma} = \sigma^2\mathbf{I}\\ \boldsymbol{\epsilon} = \boldsymbol{\Sigma}^{-1/2}\left(\mathbf{y} - \mathbf{\hat{y}}\left(\mathbf{x}, \boldsymbol{\beta}\right)\right)\\ \mathbf{J} = \frac{\partial\boldsymbol{\epsilon}}{\partial\delta\boldsymbol{\beta}}\\ \delta\boldsymbol{\beta} = \left(\mathbf{J}^T\mathbf{J}\right)^{-1}\mathbf{J}^T\boldsymbol{\epsilon} \]
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<p>Implemented in <a class="el" href="classcalico_1_1sensors_1_1Gyroscope.html#aa9e8f2f9f740605af3230309ea1d2fb2">calico::sensors::Gyroscope</a>, <a class="el" href="classcalico_1_1sensors_1_1Camera.html#aa87667f9855c3777686456a94e7ca341">calico::sensors::Camera</a>, and <a class="el" href="classcalico_1_1sensors_1_1Accelerometer.html#a1939986d8304f60a1ed2d67dfd6efd1e">calico::sensors::Accelerometer</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#af08e6476f0188cdb77cf912a9026709a">&#9670;&nbsp;</a></span>UpdateResiduals()</h2>

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          <td class="memname">virtual absl::Status calico::sensors::Sensor::UpdateResiduals </td>
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          <td class="paramtype">ceres::Problem &amp;&#160;</td>
          <td class="paramname"><em>problem</em></td><td>)</td>
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<p>Update residuals for this sensor. </p>
<p>This will only apply to measurements not marked as outliers.<br  />
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<b>Note: This method is meant to be invoked by <a class="el" href="classcalico_1_1BatchOptimizer.html">BatchOptimizer</a> ONLY. It is not recommended that you invoke this method manually.</b> </p>

<p>Implemented in <a class="el" href="classcalico_1_1sensors_1_1Gyroscope.html#a7fa5504f378220271a8ffdfadc9e6fff">calico::sensors::Gyroscope</a>, <a class="el" href="classcalico_1_1sensors_1_1Camera.html#a9baffab8e9436f340279bababa7647eb">calico::sensors::Camera</a>, and <a class="el" href="classcalico_1_1sensors_1_1Accelerometer.html#aa6bd00426c947a719e8889a8c9671447">calico::sensors::Accelerometer</a>.</p>

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<hr/>The documentation for this class was generated from the following file:<ul>
<li>calico/sensors/<a class="el" href="sensor__base_8h_source.html">sensor_base.h</a></li>
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